Assembly robot

ABSTRACT

An assembly robot comprises a breastplate adapted to be attached to the chest of a human operator, an upper arm member connected to the breastplate and adapted to be attached to the upper arm of a human operator, a lower arm member attached to the upper arm member and adapted to be attached to the lower arm of a human operator, a hand member having finger and thumb units into which the hand, finger and thumb of the human operator can be inserted, and a support structure taking the form of a movable chair to which the breastplate is attached and on which the human operator may sit. The robot members, their length, the joints between members, and the axes of these joints correspond to those of a human arm, hand and fingers whereby the robot can make the same movements as the human operator. Each joint is associated with a sensor-motor device. During a programming mode, the robot is attached to the human operator who then performs a desired task, and the signals generated by the sensor portions of the sensor-motor devices are recorded. During a subsequent operating mode the recorded signals are fed to the motor portions of the sensor-motor devices to cause the robot to reproduce the motions of the several members which had occurred during the programming mode, without operator intervention.

The present invention relates to an assembly robot having severalmembers which are joint-connected with each other and shapedapproximately like the arm and finger members of a human hand withregard to their length and joint arrangment. The said robot members areguided by a human operator and at least one sensor and one driving meansis assigned to each joint, the sensors being operative to providesignals indicative of the movements when the members are guided by hand,said signals being recorded and, when reproduced, being operative tocontrol a particular driving means which is associated with a particularsensor.

Modern manipulation devices are usually provided with a hand member atthe end of a multi-member arm which effects manipulations. For example,the hand member may be used to grip a welding device which weldstogether automobile body parts. In such an arrangement, the hand memberis required to move along certain predetermined paths in space.

A known robot of the foregoing type has a first vertical axis ofrotation. The multi-member arm operates to perform horizontal andvertical movements as well as swivel movements resulting from thesuperimposition of these movements. The hand member is so arranged atthe end of the arm that it can be rotated around a first axis ofrotation which runs in the axial direction of the arm. The hand memberhas a second axis of rotation at right angles to said first axis and,finally, a third axis of rotation running at right angles to the secondaxis of rotation, i.e., it is possible to rotate the hand member aboutany one or more of three axes.

It is extremely difficult to control the driving motors used in anarrangement of the type described above to effect the differentmovements of the manipulation device in such a way that the device movesalong a desired nonlinear curve. Customarily, therefore, the desiredcurve is divided into linear path sections and the device is moved alongthe subdivided curve one section after the other. This leads to highprogramming complexity for the programmed control of the driving motors.In order to reduce the programming complexity, it is known to surroundthe arm and gripping members of the manipulation device by a casinghaving members which correspond to said arm and gripping members(DE-A-24 35 156). The members of the casing are provided with a numberof switches corresponding to the number of axes of rotation of themanipulation device. The casing consists essentially of three memberswhich are connected with each other by pivots and which are elasticallysupported by springs on the arm and gripping members. When the casing isguided by hand thereby to cause relative movements between the membersof the manipulation device and the members of the casing, theaforementioned switches are actuated, produce signals which arerecorded, and thereby establish a control program for the driving motorsof the manipulation device.

The extremely complicated structure of the casing in the foregoingarrangement makes this type of programming device very expensive. Theunavoidable play between the members of the casing and of themanipulation device results in erroneous programming, the errorincreasing with increasing play on the switches. An erroneousprogramming also results from the fact that the weight of the casingcauses signals to be produced by the switches depending on the positionof the casing even though no corresponding force has been exertedmanually on the casing.

An additional programming device is described in DE-A-28 41 284 whichconsists of a center part surrounded by a sleeve. The center part isrigidly connected with a member of a robot. The sleeve can be moved inthe same axes relative to the center part in which the robot memberconnected with the center part is movable. Between the center part andthe sleeve, sensors are arranged which sense forces occurring in thedirections of movement of the sleeve relative to the center part whenthe sleeve is guided by hand.

The electrical signals generated by the sensors must be converted incomplicated conversion processes into control signals for the drivingmotors of the robot.

The aforementioned programming devices are to be used for robots whichare only capable of performing relatively simple movements. The controlcomplexity is considerable in each case and requires complicatedcomputer programs. These robots are generally not suitable to performassembly work which a person is capable of performing.

Another robot system is described in French Pat. No. 15 37 663 whichconsists of a master-slave manipulator system. The master is providedwith an arm that has a handle at its front end and its memberscorrespond approximately to a human arm with regard to their length andjoint arrangement. The members and joints of the slave manipulatorcorrespond to those of the master arm. Sensors are provided at eachjoint of the master arm to sense the movements of the members when themaster arm is guided by hand. The signals of the sensors are recorded,and when subsequently reproduced serve to control the drive motors ofthe slave manipulator.

In comparison with the robots mentioned previously, the programmingcomplexity is reduced in the robot system of the French patent, but saidrobot system can perform only some of the assembly work which a humancan perform because the axes of the joints of the master arm do not havethe range of movement of the axes of human arm joints.

Finally, U.S. Pat. No. 3,648,143 shows a robot similar to that of theFrench patent but with the difference that the slave robot is also amaster system. The driving motors act as sensors which generate signalswhen the robot members are guided by hand. At the front end of the robotarm one or two members are provided which are comparable to one or twofingers of a human hand. When the members are guided by hand, theelectrical motors are simultaneously activated to facilitate the guidingof the members by hand. However, this results in superimposition of theforces exerted by hand and by the motors, and in feedback coupling ofthe follow-up movements performed by the motors. The movements which areperformed later by the members of the robot thus tend to be jerky andare not precise. By designing the robot hand with a maximum of only twofinger members that are nonarticulated, only simple movements of therobot hand are possible with the disadvantage that assembly work which aperson is capable of performing cannot be performed by this robot.

The object of the present invention is to provide an assembly robotwhich can manipulate workpieces and tools essentially in the same way asa person.

Embodiments will be described below by reference to the drawings,wherein

FIG. 1 is a front view of a first embodiment of the assembly robot ofthe present invention;

FIG. 1A diagrammatically illustrates the sensor-driving motor-recorderarrangement used in the invention;

FIG. 2 depicts a hand member of the FIG. 1 robot, partially in crosssection;

FIG. 3 is a cross section along line III--III in FIG. 2 during theprogramming mode of operation;

FIG. 4 is a cross section along line III--III in FIG. 2 during theoperating mode of operation;

FIG. 5 is a detail of the cross section of the portion outlined by thecircle in FIG. 4;

FIG. 6 is a partial cross section through a gripping surface of a hollowmember of a robot finger having a pressure sensor;

FIG. 7 is a front view of a second embodiment of the assembly robot;

FIG. 8 is a front view of a third embodiment of the assembly robot;

FIG. 9 is a front view of a fourth embodiment of the assembly robot;

FIG. 10 is a front view of a fifth embodiment of the assembly robot, and

FIG. 11 is a perspective view of the rear of the upper part of anassembly robot.

The principal structure of the assembly robot is explained withreference to FIG. 1. The end of an upper arm member 2 is articulated toa breastplate 1 and a lower arm member 3 is articulated to the lower endof member 2. A hand member 4 is articulated to the lower end of armmember 3. The upper arm member 2 can be swiveled around a vertical axis40 and around a horizontal axis 42 relative to the breastplate 1. Theswiveling around the vertical axis 40 is effected by means of ahydraulic cylinder 41 while the swiveling around the horizontal axis 42is effected by a hydraulic cylinder 43. The lower arm member 3 can beswiveled around an axis 44 relative to the upper arm member 2 by ahydraulic cylinder 45. The lower arm member 3 has two parts which areconnected by a swivel joint 46. The axis of the swivel joint 46 iscoincident with the axis of the lower arm member 3. The swivel joint 46has a driving motor (not shown). The lower arm member 3 is connectedwith the hand member 4 by a knuckle joint 47 having a pair of axes whichare perpendicular to each other and perpendicular to the axis of theswivel joint 46.

The breastplate 1 is fastened to a chair 49 and is vertically adjustableby means of a sliding guide 48. The chair 49 is carried by wheels 52which can be rotated in all directions. The breastplate has two parts,i.e., an upper part and a lower part, which are connected with eachother by means of a joint 50 having a horizontal axis. A swivel motionaround the axis of the joint 50 can be effected by the hydrauliccylinder 51. The chair 49 is connected to a first lever arm 53 which isconnected to a second lever arm 54 by a joint 58' having a vertical axisof rotation. The second lever arm 54 is connected to a support 55 by ajoint 59' having a vertical axis of rotation.

A sensor is provided for each of the aforementioned hydraulic cylinders41, 43, 45 and 51 as well as for each joint and articulated axis.Details will be explained below with the help of FIG. 2.

The programming mode of operation of the robot is as follows:

A human operator 5 sits down on the chair 49. The breastplate 1 isconnected with the upper part of the operator's body in a manner whichwill be explained with the help of FIG. 11. The hands of the operator 5are inserted into the glove-like hand members 4 and the upper arm andthe lower arm of the operator 5 are connected with the upper arm andlower arm members 2 and 3 respectively.

All movements which the operator 5 makes with the upper part of hisbody, with his arms, and with his hands and fingers, are sensed by thesensors provided for all of the joint axes and the electrical signalsgenerated by the sensors are recorded, as shown illustratively in FIG.1A. The same applies to sensor signals that are generated when theoperator 5 moves the chair 49 with his feet.

The operator 5 executes the work which the assembly robot is intended toperform subsequently.

After the operator 5 has executed the work which the robot is to performsubsequently, the operator 5 is detached from the assembly robot and,during the subsequent operating mode of the robot, the recorded signalsthen control the driving means, for example the cylinders 41, 43, 45, 51for the different motion axes, as also shown illustratively in FIG. 1A.

The structure of the hand member 4, which can also be called a grippingand assembly device, will now be explained in detail by reference toFIGS. 2 to 5.

FIG. 2 shows the hand member 4 during the programming mode of operationof the assembly robot as the hand member 4 is manipulated by the hand ofthe operator 5 performing a desired operation.

A hollow central hand member 6 is connected with the lower arm member 3of the robot by means of the knuckle joint 47 (FIG. 1). A first hollowthumb member 8 is articulated to the hand member at a joint 7. A secondhollow thumb member 10 is articulated to thumb member 8 at a jointconnection 9 and a third hollow thumb member 12 is articulated to thumbmember 10 at another joint connection 11. The hollow thumb members 8,10, 12 are shaped to simulate the phalanges of a human thumb.

The same applies to the hollow finger members 13, 14, 15 which simulatethe phalanges of a human index finger. The hollow finger member 13 isconnected to the center hand member 6 by a joint 16, the hollow fingermember 14 is connected to the hollow finger member 13 by a joint 17, andthe hollow finger member 15 is connected to the hollow finger member 14by a joint 18.

Depending on the tasks to be accomplished by the gripping and assemblydevice, i.e., the hand member 4, additional hollow members can beprovided which simulate the middle finger, the ring finger and thelittle finger of a human hand.

A relatively stiff cable line engages both sides of each joint 7, 9, 11,16, 17, 18 so that the individual hollow members 8, 10 and 12-15 can beswiveled around their repective joints 7, 9, 11, 16, 17 and 18. Thus,hollow finger member 15 can be moved in opposite directions about joint18 by the cables 19, 20; hollow finger member 14 is moved by the cables21, 22, and hollow finger member 13 is moved by the cables 23, 24.Analogous pairs of cables are provided to move the hollow thumb membersof the hand member 4.

Each cable is connected to a motor-sensor device 25 which is rigidlymounted on the center hand member 6. The motor-sensor device 25 for thecable 26 of the hollow thumb member 12 is shown in cross section. Eachmotor-sensor device 25 consists of a motor part 27 and a sensor part 28.The motor part 27 is preferably a linear motor, preferably a cylinderhaving a piston 29 moving inside the cylinder, the piston beingconnected to an associated cable, e.g., cable 26. The sensor part 28consists of a motion sensor of known design to which the cable 26 isalso connected.

During the programming mode of operation, no pressure medium acts uponthe motor part 27 of the motor-sensor devices 25. The movementsperformed by the hand of the operator 5 and the phalanges of his thumband fingers simultaneously effect like movements of the hollow hand,thumb and finger members of the robot and are transmitted to the sensorparts 28 of the devices 25 by the relatively stiff cables 19-24, 26 and31. The sensed motions are transformed into electrical signals by thesensor parts 28 which are recorded (FIG. 1A). These recorded signalscontrol the gripping and assembly program that is subsequently carriedout without intervention of the human operator during a later operatingmode of operation of the robot.

The recorded sensor signals, when read out of the memories in which thesignals are stored, control the input and output of a fluid, e.g., oil,to and from the pressure chambers 30 of the cylinders of themotor-sensor devices 25 by means of valves (not shown). When oil is fedunder pressure into the chamber 30 of the cylinder associated with thecable 26, the piston 29 moves to the right thereby causing the hollowthumb member 12 to swivel around the axis of joint 11 in acounter-clockwise direction. When the thumb member 12 is to perform arotary movement in a clockwise direction around the axis of joint 11,oil is introduced under pressure into the pressure chamber of thecylinder associated with the cable 31.

Instead of using motor parts 27 which are cylindrical in shape, othertypes of motors can be used to effect the swiveling of a respectivehollow thumb or finger member around its articulated axis. Moreover,instead of using cables between the motors and the respective hollowmembers, the transmission of forces could also be effected by means oflevers which are connected eccentrically to the respective hollowmembers, relative to their respective joints, whereby a given motormoves an associated lever to exert forces in both directions of movementof the hollow finger or thumb member. However, the hydraulic cylindersshown in FIG. 1 are preferably used to effect movement of the robotmembers associated therewith around the axes of joints 40, 42, 44, 47and 50.

The movement of the hollow members by means of the motor parts 27,during the operating mode of operation, are sensed by the sensor parts28, and the outputs of the sensors during the operating mode canaccordingly be utilized to determine the actual positions of the hollowmembers for comparison with the sensor signals that were previouslyrecorded during the programming mode of operation.

To clearly establish the position of the hand of the human operator 5with respect to the gripping and assembly device, i.e., the hand member4, during the programming mode of operation, an inflatable hose 32 isprovided on the inside of each hollow finger and thumb member on theside opposite to the gripping surface. After the hand of the operator 5has been inserted into the hand member 4 of the robot, the hose 32 isinflated to urge the gripping surface of the operator's fingers intocontact with the inner side of the gripping surface of the correspondinghollow members. This is shown in FIG. 3 where the operator's finger 33is in contact with the inner side of the gripping surface 34 of thehollow finger member 15.

Preferably, the gripping surface 34 of each hollow finger and thumbmember is provided with perforations 35. During the operating mode ofoperation of the robot, the hose 32 is inflated to such an extent thatit can penetrate the perforations 35 in a nub-like manner. This is shownin FIG. 5. The nubs 36 projecting beyond the gripping surface 34 improvethe hold of the robot hand member on the workpiece to be held.

Pressure sensors 37 may be inserted into some of the perforations 35 forpurposes of monitoring the gripping pressure between the respectivefinger member and the object being held, i.e., the workpiece. If thispressure exceeds a certain value, the signal of the sensor 37 can beused to slacken the closing movement of the gripping robot hand member.

The hollow center hand member 6 is connected in an articulated manner tothe lower arm member 3 of the robot. The connection is effected by theknuckle joint 47 (FIG. 1) whose rotary axes are perpendicular to eachother and also perpendicular to the rotary axis of the joint 46. Thecenter hand member 6 can perform rotary and/or swivel movements relativeto the lower arm member 3 which are sensed during the programming modeof operation by the aforementioned sensors, the signals generated by thesensors being recorded and used subsequently, during the operating mode,to actuate the motors which are provided for the axes of the knucklejoint 47 and of the rotary joint 46 in order to reproduce correspondingrotary and/or swivel movements.

The respective first hollow members of the thumb and finger units of therobot, for example the hollow members 8 and 13, can be connected forlateral movements. For this purpose, they are connected to the centerhand member 6 by intermediate members 38 or 39 which are fastened to thecenter hand member 6 at joints 40 and 41 respectively whose axes areperpendicular to the axes of the joints 7 and 16. Motor-sensor devices25 are provided for the joints 40, 41 for the purposes describedpreviously in respect to the other motor-sensor devices.

In the embodiment of FIG. 1, an intermediate member 56 is providedbetween the breastplate 1 and the upper arm member 2. The cylinder 41 isconnected to the breastplate 1 and to the upper arm member 2 by jointshaving vertical axes. The cylinder 43 between the breastplate 1 and theupper arm member 2 is connected to the breastplate 1 and to the upperarm member 2 by ball-and-socket joints. A joint having a vertical axisand an associated motor-sensor can be provided between the first leverarm 53 and the chair 49 in a manner analogous to the joints 58', 59'between the two lever arms 53, 54 and the second lever arm 54 and thesupport 55 respectively. When the chair 49 is moved by the operator 5,the respective sensors generate signals that correspond to the motionsor the swivel angles, which signals are stored. When the stored signalsare later read out, the chair 49 will be moved by means of the motors inaccordance with the stored or recorded signals.

As has already been mentioned, the vertical joint 50, together with thehydraulic cylinder 51, is used to perform pitching motions of the upperpart of the breastplate 1.

The foregoing discussion is equally applicable to both of the robot armsshown in FIG. 1.

In a further embodiment of the invention shown in FIG. 7, thebreastplate 1' is of one piece construction and is fastened to an upperchair part 49' in a vertically adjustable manner. The upper chair part49' is connected to a lower chair part 49" for rotation around avertical axis 57. A driving motor and a sensor are provided between thetwo chair parts 49' and 49" and rotation around axis 57 performed by theoperator 5 is sensed by this sensor and transformed into electricalsignals which are recorded so that, when these recorded signals arelater read out of storage the aforementioned driving motor will beactuated to reproduce the rotary movement between the two chair parts49' and 49". The embodiment of FIG. 7 is otherwise the same as that ofFIG. 1.

In the embodiment of FIG. 8, the breastplate 1 is rotatably connected toa first lever arm 53' at a vertical axis 57. This first lever arm 53' isrotatably connected to a second lever arm 54' at vertical axis 58 andthe second lever arm 54' is connected to a support 55' at a verticalaxis 59. The support 55' is vertically adjustable. A motor and a sensoris provided at each joint axis 57, 58 and 59. Movements carried out bythe operator 5 are sensed by the sensors and the signals generated bythe sensors during the programming mode of operation are recorded foruse during a subsequent operating mode of operation as described above.

In the embodiment of FIG. 9, the breastplate 1 is again supported by thelever arms 53' and 54' and by the support 55' in accordance with FIG. 8but the operator 5 does not stand up as in FIG. 8 but sits on a chair 49having casters 52.

In the embodiment of FIG. 10, the breastplate 1 is the same as in FIG. 9but the chair 49' is hollow so that the operator 5 is able to walk.

FIG. 11 shows that the cup-shaped breastplate 1 and the two arm members2 and 3 are each provided with strapping devices 60 so that thebreastplate 1 and members 2, 3 can be strapped onto the operator 5. Thehand member 4 is designed like a glove into which the operator 5 caninsert his hand and his fingers.

The cup-shaped or hollow design of the members 1, 2 and 3 has theadvantage that the axes of the joints between the said members of theassembly robot coincide with the axes of the joints of the humanoperator. As a result, a smooth guiding and moving of the members of therobot is possible during the programming.

The assembly robot is suitable for use in the assembly of workpieces andthe handling of tools during the assembly of workpieces. It isparticularly suitable for assembly work that requires use of two humanhands.

The sensors used in the present invention serve not only to generatesignals during the programming of the robot by an operator 5 but alsoserve to indicate the actual positions of the robot members during thesubsequent operation of the robot thereby permitting adjustment of thepositions of the members during the operating mode by comparison betweenthe actual position of each member and the stored signal that indicatesthe desired position of that member.

I claim:
 1. An assembly robot adapted to be manipulated by a humanoperator to perform a task during a programming mode of operationwherein different portions of said robot are moved during saidprogramming mode of operation and signals representative of themovements are recorded for purposes of later driving said differentportions of said robot to effect like movements during an operating modeof operation thereby to repeat the performance of said task withoutintervention by the human operator, said assembly robot comprising abreastplate which is connectable to the upper part of the body of ahuman operator during said programming mode, an upper arm memberconnectable to an upper arm of the human operator during saidprogramming mode, said upper arm member being connected at one endthereof to said breastplate by a joint having both a horizontal axis anda vertical axis whereby said upper arm member may be moved relative tosaid breastplate by the human operator about said horizontal andvertical axes through ranges of movement which fully correspond to thoseof the human operator's shoulder joint, first sensor means for sensingmovements of said upper arm member relative to said breastplate aboutsaid horizontal axis, means for recording the output of said firstsensor means during said programming mode, first driving means betweensaid breastplate and said upper arm member responsive to the recordedoutput of said first sensor means for moving said upper arm member aboutsaid horizontal axis during said operating mode, second sensor means forsensing movements of said upper arm member relative to said breastplateabout said vertical axis, means for recording the output of said secondsensor means during said programming mode, second driving means betweensaid breastplate and said upper arm member responsive to the recordedoutput of said second sensor means for moving said upper arm memberabout said vertical axis during said operating mode, a lower arm memberconnectable to the lower arm of the human operator during saidprogramming mode, means connecting one end of said lower arm member tothe other end of said upper arm member for pivotal motion about a thirdjoint through a range of movement fully corresponding to that of thehuman operator's elbow joint, third sensor means for sensing movementsof said upper and lower arm members relative to one another about saidthird joint, means for recording the output of said third sensor meansduring said programming mode, third driving means between said upper andlower arm members responsive to the recorded output of said third sensormeans for moving said upper and lower arm members relative to oneanother about said third joint during said operating mode, a hollow handmember adapted to receive the hand of the human operator during saidprogramming mode, said hollow hand member being connected to the otherend of said lower arm member by a knuckle joint having fourth and fifthpivotal axes that are prependicular to one another, fourth and fifthsensor means for sensing movements of said hollow hand member relativeto said lower arm member about said fourth and fifth axes respectively,means for recording the outputs of said fourth and fifth sensor meansduring said programming mode, fourth and fifth driving means responsiverespectively to the recorded outputs of said fourth and fifth sensormeans for moving said hollow hand member relative to said lower armmember about said fourth and fifth axes respectively during saidoperating mode, said hollow hand member including a hollow central handmember which is connected to said lower arm member by said knucklejoint, a plurality of hollow thumb members interconnected sequentiallyto one another and to said central hand member by a plurality of pivotalthumb joints, said plural hollow thumb members forming a hollowarticulated thumb unit which receives the thumb of the human operatorand which is capable of movements about said thumb joints through rangesof movement fully corresponding to those of the human operator's thumbduring said programming mode, a plurality of thumb member sensorelements for sensing movements of said thumb members about saidplurality of thumb joints respectively, means for recording the outputsof said thumb member sensor elements during said programming mode, aplurality of thumb member driving means responsive respectively to therecorded outputs of said thumb member sensor elements for moving saidhollow thumb members relative to one another and relative to saidcentral hand member about said plurality of thumb joints respectivelyduring said operating mode, a plurality of hollow finger membersinterconnected sequentially to one another and to said central handmember by a plurality of pivoted finger joints, said plural hollowfinger members forming a hollow articulated finger unit which receives afinger of the human operator during the said programming mode and whichis capable of movements about said finger joints through ranges ofmovement fully corresponding to those of the human operator's finger, aplurality of finger member sensor elements for sensing movements of saidfinger members about said plurality of finger joints respectively, meansfor recording the outputs of said finger member sensor elements duringsaid programming mode, and a plurality of finger member driving meansresponsive respectively to the recorded outputs of said finger membersensor elements for moving said hollow finger members relative to oneanother and relative to said central hand member about said plurality offinger joints respectively during said operating mode.
 2. The assemblyrobot of claim 1 wherein the gripping surfaces of said hollow fingermembers are perforated, and an inflatable hose element in said hollowarticulated finger unit opposite to the perforated gripping surfaces ofsaid finger members for urging the finger of the human operator towardsaid gripping surfaces during said programming mode.
 3. The assemblyrobot of claim 2 including a pressure sensor on at least one of saidperforated gripping surfaces.
 4. The assembly robot of claim 1 includinga first horizontal arm pivotally connected to said breastplate, a secondhorizontal arm pivotally connected to said first horizontal arm, and avertical support pivotally connected to said second horizontal arm, aplurality of further sensor devices operative respectively during saidprogramming mode to sense movements of said first horizontal armrelative to said breastplate, to sense movements of said secondhorizontal arm relative to said first horizontal arm, and to sensemovements of said second horizontal arm relative to said verticalsupport, means for recording the outputs of said plurality of furthersensor devices during said programming mode, and a plurality of furtherdriving means responsive respectively to said recorded outputs of saidfurther sensor devices for moving said first horizontal arm relative tosaid breastplate, for moving said second horizontal arm relative to saidfirst horizontal arm, and for moving said second horizontal arm relativeto said vertical support respectively during said operating mode.
 5. Theassembly robot of claim 1 wherein said breastplate is connected to amobile chair, said chair being vertically adjustable in position.
 6. Theassembly robot of claim 5 wherein said chair comprises upper and lowerparts which can rotate relative to one another about a vertical axis. 7.The assembly robot of claim 1 wherein said breastplate comprises atleast two parts which are pivotally connected to one another for motionrelative to one another about a horizontal breastplate axis, and motormeans for moving said two parts of said breastplate relative to oneanother about said horizontal breastplate axis.
 8. The assembly robot ofclaim 1 wherein said thumb member driving means and said finger memberdriving means each comprises a linear motor connected to an associatedpart of said assembly robot by a cable.
 9. The assembly robot of claim 1wherein each of said thumb member driving means and each of said fingermember driving means is mounted on said central hand member, the drivingmeans associated with each of said thumb joints and each of said fingerjoints comprising a pair of driving motors which act respectively onopposite sides of said joint.
 10. The assembly robot of claim 1 whereinsaid lower arm member comprises two arm member portions which areinterconnected to one another by a swivel joint which is coaxial withthe axis of said lower arm member.
 11. The assembly robot of claim 1wherein the thumb joint interconnecting said articulated thumb unit tosaid central hand member includes a pivot joint which is orientedtransverse to the thumb joints interconnecting said thumb members to oneanother.
 12. The assembly robot of claim 11 wherein the thumb jointinterconnecting said articulated thumb unit to said central hand memberincludes a further pivot joint which is oriented parallel to the thumbjoints interconnecting said thumb members to one another.
 13. Theassembly robot of claim 1 wherein the finger joint interconnecting saidarticulated finger unit to said central hand member includes a pivotjoint which is oriented transverse to the finger joints interconnectingsaid finger members to one another.
 14. The assembly robot of claim 13wherein the finger joint interconnecting said articulated finger unit tosaid central hand member indluces a further pivot joint which isoriented parallel to the finger joints interconnecting said fingermembers to one another.